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<div class="title">ORBmatcher.h</div>  </div>
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<a href="_o_r_bmatcher_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef ORBMATCHER_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define ORBMATCHER_H</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include&lt;vector&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include&lt;opencv2/core/core.hpp&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include&lt;opencv2/features2d/features2d.hpp&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include&quot;<a class="code" href="_map_point_8h.html">MapPoint.h</a>&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include&quot;<a class="code" href="_key_frame_8h.html">KeyFrame.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include&quot;<a class="code" href="_frame_8h.html">Frame.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;{</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html">   56</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html">ORBmatcher</a></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{    </div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a6ca536b80e44da0f56fcd35ff8c6a833">ORBmatcher</a>(<span class="keywordtype">float</span> nnratio=0.6, <span class="keywordtype">bool</span> checkOri=<span class="keyword">true</span>);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">// Computes the Hamming distance between two ORB descriptors</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a63ff10561753f23220c2bfcea9b599f3">DescriptorDistance</a>(<span class="keyword">const</span> cv::Mat &amp;a, <span class="keyword">const</span> cv::Mat &amp;b);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">// Search matches between Frame keypoints and projected MapPoints. Returns number of matches</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">// Used to track the local map (Tracking)</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ae43d042858a3a3ca4238bb4ca519f196">SearchByProjection</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;F, <span class="keyword">const</span> std::vector&lt;MapPoint*&gt; &amp;vpMapPoints, <span class="keyword">const</span> <span class="keywordtype">float</span> th=3);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="comment">// Project MapPoints tracked in last frame into the current frame and search matches.</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">// Used to track from previous frame (Tracking)</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ae43d042858a3a3ca4238bb4ca519f196">SearchByProjection</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;CurrentFrame, <span class="keyword">const</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;LastFrame, <span class="keyword">const</span> <span class="keywordtype">float</span> th, <span class="keyword">const</span> <span class="keywordtype">bool</span> bMono);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">// Project MapPoints seen in KeyFrame into the Frame and search matches.</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">// Used in relocalisation (Tracking)</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ae43d042858a3a3ca4238bb4ca519f196">SearchByProjection</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;CurrentFrame, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF, <span class="keyword">const</span> std::set&lt;MapPoint*&gt; &amp;sAlreadyFound, <span class="keyword">const</span> <span class="keywordtype">float</span> th, <span class="keyword">const</span> <span class="keywordtype">int</span> ORBdist);</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Project MapPoints using a Similarity Transformation and search matches.</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// Used in loop detection (Loop Closing)</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ae43d042858a3a3ca4238bb4ca519f196">SearchByProjection</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF, cv::Mat Scw, <span class="keyword">const</span> std::vector&lt;MapPoint*&gt; &amp;vpPoints, std::vector&lt;MapPoint*&gt; &amp;vpMatched, <span class="keywordtype">int</span> th);</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="comment">// Search matches between MapPoints in a KeyFrame and ORB in a Frame.</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="comment">// Brute force constrained to ORB that belong to the same vocabulary node (at a certain level)</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// Used in Relocalisation and Loop Detection</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a024fe40fa89785df914ef0a59cdf605d">SearchByBoW</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;F, std::vector&lt;MapPoint*&gt; &amp;vpMapPointMatches);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a024fe40fa89785df914ef0a59cdf605d">SearchByBoW</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF1, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF2, std::vector&lt;MapPoint*&gt; &amp;vpMatches12);</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">// Matching for the Map Initialization (only used in the monocular case)</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aff9b6dde7878d59e334ed5ad2ddd04eb">SearchForInitialization</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;F1, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> &amp;F2, std::vector&lt;cv::Point2f&gt; &amp;vbPrevMatched, std::vector&lt;int&gt; &amp;vnMatches12, <span class="keywordtype">int</span> windowSize=10);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">// Matching to triangulate new MapPoints. Check Epipolar Constraint.</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a0ecb7f018e9184c67c4a48ad8616217d">SearchForTriangulation</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF1, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF2, cv::Mat F12,</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                               std::vector&lt;pair&lt;size_t, size_t&gt; &gt; &amp;vMatchedPairs, <span class="keyword">const</span> <span class="keywordtype">bool</span> bOnlyStereo);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="comment">// Search matches between MapPoints seen in KF1 and KF2 transforming by a Sim3 [s12*R12|t12]</span></div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="comment">// In the stereo and RGB-D case, s12=1</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a9b9c641423a8075aa2a6f1d5bab4d211">SearchBySim3</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF1, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF2, std::vector&lt;MapPoint *&gt; &amp;vpMatches12, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;s12, <span class="keyword">const</span> cv::Mat &amp;R12, <span class="keyword">const</span> cv::Mat &amp;t12, <span class="keyword">const</span> <span class="keywordtype">float</span> th);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="comment">// Project MapPoints into KeyFrame and search for duplicated MapPoints.</span></div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#add796fcf9f5cae91393d4c0b767e0183">Fuse</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF, <span class="keyword">const</span> vector&lt;MapPoint *&gt; &amp;vpMapPoints, <span class="keyword">const</span> <span class="keywordtype">float</span> th=3.0);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="comment">// Project MapPoints into KeyFrame using a given Sim3 and search for duplicated MapPoints.</span></div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#add796fcf9f5cae91393d4c0b767e0183">Fuse</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* pKF, cv::Mat Scw, <span class="keyword">const</span> std::vector&lt;MapPoint*&gt; &amp;vpPoints, <span class="keywordtype">float</span> th, vector&lt;MapPoint *&gt; &amp;vpReplacePoint);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a810252607722e100efe4c4e941ae00a6">  255</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a810252607722e100efe4c4e941ae00a6">TH_LOW</a>;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aeb28265794388e19763e9a3dabd51473">  263</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aeb28265794388e19763e9a3dabd51473">TH_HIGH</a>;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aa2f2d9094b4f31db4f65c93778f71494">  268</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aa2f2d9094b4f31db4f65c93778f71494">HISTO_LENGTH</a>;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a10df000eeb05466a5bbfd7b40c7db45d">CheckDistEpipolarLine</a>(<span class="keyword">const</span> cv::KeyPoint &amp;kp1, <span class="keyword">const</span> cv::KeyPoint &amp;kp2, <span class="keyword">const</span> cv::Mat &amp;F12, <span class="keyword">const</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a> *pKF);</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ae6ae0904b9919f1141ef4a790cd34bfe">RadiusByViewingCos</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> &amp;viewCos);</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ad6613e26706798c507b5266cdd101311">ComputeThreeMaxima</a>(std::vector&lt;int&gt;* histo, <span class="keyword">const</span> <span class="keywordtype">int</span> L, <span class="keywordtype">int</span> &amp;ind1, <span class="keywordtype">int</span> &amp;ind2, <span class="keywordtype">int</span> &amp;ind3);</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;</div><div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a08f6ee66568fa5a79600ed5ad8443893">  315</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a08f6ee66568fa5a79600ed5ad8443893">mfNNratio</a>;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div><div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a996a27217749aa15d2210c6dc6228495">  323</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a996a27217749aa15d2210c6dc6228495">mbCheckOrientation</a>;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;};</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;}<span class="comment">// namespace ORB_SLAM</span></div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="preprocessor">#endif // ORBMATCHER_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a6ca536b80e44da0f56fcd35ff8c6a833"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a6ca536b80e44da0f56fcd35ff8c6a833">ORB_SLAM2::ORBmatcher::ORBmatcher</a></div><div class="ttdeci">ORBmatcher(float nnratio=0.6, bool checkOri=true)</div><div class="ttdoc">Constructor que guarda los argumentos en propiedades. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:41</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html">ORB_SLAM2::Frame</a></div><div class="ttdoc">Frame representa un cuadro, una imagen, con los puntos singulares detectados. </div><div class="ttdef"><b>Definition:</b> Frame.h:59</div></div>
<div class="ttc" id="_map_point_8h_html"><div class="ttname"><a href="_map_point_8h.html">MapPoint.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a0ecb7f018e9184c67c4a48ad8616217d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a0ecb7f018e9184c67c4a48ad8616217d">ORB_SLAM2::ORBmatcher::SearchForTriangulation</a></div><div class="ttdeci">int SearchForTriangulation(KeyFrame *pKF1, KeyFrame *pKF2, cv::Mat F12, std::vector&lt; pair&lt; size_t, size_t &gt; &gt; &amp;vMatchedPairs, const bool bOnlyStereo)</div><div class="ttdoc">Machea puntos singulares entre el keyframe actual y un vecino, con el propósito posterior de triangul...</div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:657</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_aff9b6dde7878d59e334ed5ad2ddd04eb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aff9b6dde7878d59e334ed5ad2ddd04eb">ORB_SLAM2::ORBmatcher::SearchForInitialization</a></div><div class="ttdeci">int SearchForInitialization(Frame &amp;F1, Frame &amp;F2, std::vector&lt; cv::Point2f &gt; &amp;vbPrevMatched, std::vector&lt; int &gt; &amp;vnMatches12, int windowSize=10)</div><div class="ttdoc">Macheo para inicialización. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:405</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a024fe40fa89785df914ef0a59cdf605d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a024fe40fa89785df914ef0a59cdf605d">ORB_SLAM2::ORBmatcher::SearchByBoW</a></div><div class="ttdeci">int SearchByBoW(KeyFrame *pKF, Frame &amp;F, std::vector&lt; MapPoint *&gt; &amp;vpMapPointMatches)</div><div class="ttdoc">Machea puntos del cuadro actual con los de un keyframe. </div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_aeb28265794388e19763e9a3dabd51473"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aeb28265794388e19763e9a3dabd51473">ORB_SLAM2::ORBmatcher::TH_HIGH</a></div><div class="ttdeci">static const int TH_HIGH</div><div class="ttdoc">Umbral alto, laxo, para distancias entre descriptores. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.h:263</div></div>
<div class="ttc" id="_key_frame_8h_html"><div class="ttname"><a href="_key_frame_8h.html">KeyFrame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_ae6ae0904b9919f1141ef4a790cd34bfe"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ae6ae0904b9919f1141ef4a790cd34bfe">ORB_SLAM2::ORBmatcher::RadiusByViewingCos</a></div><div class="ttdeci">float RadiusByViewingCos(const float &amp;viewCos)</div><div class="ttdoc">Empaqueta la decisión del radio en búsqueda circular, según el coseno de la triangulación. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:131</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html">ORB_SLAM2::ORBmatcher</a></div><div class="ttdoc">ORBmatcher empaqueta todos los métodos de macheo de descriptores. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.h:56</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="_frame_8h_html"><div class="ttname"><a href="_frame_8h.html">Frame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a810252607722e100efe4c4e941ae00a6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a810252607722e100efe4c4e941ae00a6">ORB_SLAM2::ORBmatcher::TH_LOW</a></div><div class="ttdeci">static const int TH_LOW</div><div class="ttdoc">Umbral bajo, estricto, para distancias entre descriptores. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.h:255</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_add796fcf9f5cae91393d4c0b767e0183"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#add796fcf9f5cae91393d4c0b767e0183">ORB_SLAM2::ORBmatcher::Fuse</a></div><div class="ttdeci">int Fuse(KeyFrame *pKF, const vector&lt; MapPoint *&gt; &amp;vpMapPoints, const float th=3.0)</div><div class="ttdoc">Proyecta puntos del mapa sobre un keyframe y busca puntos duplicados, como parte del mapeo local...</div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:825</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_aa2f2d9094b4f31db4f65c93778f71494"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#aa2f2d9094b4f31db4f65c93778f71494">ORB_SLAM2::ORBmatcher::HISTO_LENGTH</a></div><div class="ttdeci">static const int HISTO_LENGTH</div><div class="ttdoc">Tamaño del array de histograma. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.h:268</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_ad6613e26706798c507b5266cdd101311"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ad6613e26706798c507b5266cdd101311">ORB_SLAM2::ORBmatcher::ComputeThreeMaxima</a></div><div class="ttdeci">void ComputeThreeMaxima(std::vector&lt; int &gt; *histo, const int L, int &amp;ind1, int &amp;ind2, int &amp;ind3)</div><div class="ttdoc">Computa 3 máximos. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:1610</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a9b9c641423a8075aa2a6f1d5bab4d211"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a9b9c641423a8075aa2a6f1d5bab4d211">ORB_SLAM2::ORBmatcher::SearchBySim3</a></div><div class="ttdeci">int SearchBySim3(KeyFrame *pKF1, KeyFrame *pKF2, std::vector&lt; MapPoint *&gt; &amp;vpMatches12, const float &amp;s12, const cv::Mat &amp;R12, const cv::Mat &amp;t12, const float th)</div><div class="ttdoc">Compara dos keyframes candidatos al cierre de bucle. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:1102</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a63ff10561753f23220c2bfcea9b599f3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a63ff10561753f23220c2bfcea9b599f3">ORB_SLAM2::ORBmatcher::DescriptorDistance</a></div><div class="ttdeci">static int DescriptorDistance(const cv::Mat &amp;a, const cv::Mat &amp;b)</div><div class="ttdoc">Calcula la distancia de Hamming entre dos descriptores, con el algoritmo de Stanford. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:1661</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a08f6ee66568fa5a79600ed5ad8443893"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a08f6ee66568fa5a79600ed5ad8443893">ORB_SLAM2::ORBmatcher::mfNNratio</a></div><div class="ttdeci">float mfNNratio</div><div class="ttdoc">Nearest neighbor ratio. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.h:315</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a996a27217749aa15d2210c6dc6228495"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a996a27217749aa15d2210c6dc6228495">ORB_SLAM2::ORBmatcher::mbCheckOrientation</a></div><div class="ttdeci">bool mbCheckOrientation</div><div class="ttdoc">Señal interna de configuración definida en la construcción del objeto, que indica si se debe chequear...</div><div class="ttdef"><b>Definition:</b> ORBmatcher.h:323</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_a10df000eeb05466a5bbfd7b40c7db45d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#a10df000eeb05466a5bbfd7b40c7db45d">ORB_SLAM2::ORBmatcher::CheckDistEpipolarLine</a></div><div class="ttdeci">bool CheckDistEpipolarLine(const cv::KeyPoint &amp;kp1, const cv::KeyPoint &amp;kp2, const cv::Mat &amp;F12, const KeyFrame *pKF)</div><div class="ttdoc">Comprobación por línea epipolar. </div><div class="ttdef"><b>Definition:</b> ORBmatcher.cc:140</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher_html_ae43d042858a3a3ca4238bb4ca519f196"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bmatcher.html#ae43d042858a3a3ca4238bb4ca519f196">ORB_SLAM2::ORBmatcher::SearchByProjection</a></div><div class="ttdeci">int SearchByProjection(Frame &amp;F, const std::vector&lt; MapPoint *&gt; &amp;vpMapPoints, const float th=3)</div><div class="ttdoc">Macheo circular entre puntos singulares detectados en el cuadro actual, y la proyección de los puntos...</div></div>
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